Bicycle detection device, operating device for bicycle component with detection device, and bicycle control system with operating device

ABSTRACT

A bicycle detection device is basically provided with a single sensor that is configured to output a first detection signal of a first state in response to a movement of a first operating member. The sensor is configured to output a second detection signal of a second state, which is different from the first state, in response to a movement of a second operating member.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Japanese Patent Application No.2014-247319, filed on Dec. 5, 2014 and Japanese Patent Application No.2015-147177, filed on Jul. 24, 2015. The entire disclosures of JapanesePatent Application Nos. 2014-247319 and 2015-147177 are herebyincorporated herein by reference.

BACKGROUND

1. Field of the Invention

This invention generally relates to a bicycle detection device, anoperating device for a bicycle component comprising this detectiondevice, and a bicycle control system comprising this operating device.

2. Background Information

A bicycle detector is conventionally known for detecting the movement ofa plurality of bicycle operating devices. One example of a bicycledetector is disclosed in U.S. Pat. No. 8,286,529 in which an operatingdevice is provided to of a transmission comprising two operating membersand comprises two sensors for detecting the operation of each operatingmember.

SUMMARY

Generally, the present disclosure is directed to various features of adetection device that is used to detect an operation of an operatingdevice for a bicycle component. In the conventional bicycle detectordescribed above, the operating device has two sensors for detecting themovement of two operating members. It is preferable to reduce the numberof sensors to reduce the cost of manufacturing the operating device.

One object of the present invention is to provide a bicycle detectiondevice capable of reducing the number of sensors, an operating devicefor a bicycle component comprising this detection device, and a bicyclecontrol system comprising this operating device.

In view of the state of the known technology and in accordance with afirst aspect of the present disclosure, a bicycle detection device isprovided that basically comprises a single sensor that is configured tooutput a first detection signal of a first state in response to amovement of a first operating member. The sensor is configured to outputa second detection signal of a second state, which is different from thefirst state, in response to a movement of a second operating member.

In accordance with a second aspect of the present invention, the bicycledetection device according to the first aspect is configured so that thesensor is configured to output the first detection signal of the firststate according to a positional relationship with a first detector ofthe first operating member, and the sensor is configured to output thesecond detection signal of the second state according to a positionalrelationship with a second detector of the second operating member.

In accordance with a third aspect of the present invention, the bicycledetection device according to the second aspect is configured so thatthe sensor is configured to output the first detection signal of thefirst state at a first level that changes continuously or in a stepwisemanner as a first distance between the sensor and the first detectorchanges, and the sensor is configured to output the second detectionsignal of the second state at a second level that changes continuouslyor in a stepwise manner as a second distance between the sensor and thesecond detector changes.

In accordance with a fourth aspect of the present invention, the bicycledetection device according to the second aspect is configured so thatthe sensor is configured to output the first detection signal upon afirst distance between the sensor and the first detector being less thana first prescribed distance, the sensor is configured not to output thefirst detection signal upon the first distance being equal to or greaterthan the first prescribed distance, the sensor is configured to outputthe second detection signal upon a second distance between the sensorand the second detector being less than a second prescribed distance,and the sensor is configured not to output the second detection signalupon the second distance being equal to or greater than the secondprescribed distance.

In accordance with a fifth aspect of the present invention, the bicycledetection device according to any one of the second to fourth aspectsfurther comprises the first detector provided to the first operatingmember, and the second detector provided to the second operating member.

In accordance with a sixth aspect of the present invention, the bicycledetection device according to the first aspect is configured so that thefirst operating member is movably provided between a first detector andthe sensor, and the second operating member is movably provided betweena second detector and the sensor.

In accordance with a seventh aspect of the present invention, thebicycle detection device according to the second or sixth aspect isconfigured so that the first detector includes a first magnet and thesecond detector includes a second magnet, and the sensor comprises aHall element.

In accordance with an eighth aspect of the present invention, thebicycle detection device according to the seventh aspect is configuredso that each of the first and second magnets has a magnetic pole that isarranged closest to the sensor, while the first operating member and thesecond operating member are disposed in a non-operated state, themagnetic poles arranged closest to the sensor have opposite magnetisms.

In accordance with a ninth aspect of the present invention, the bicycledetection device according to the second or sixth aspect is configuredso that the first detector and the second detector are different colorsfrom each other, and the sensor includes a light receiving element.

In accordance with a tenth aspect of the present invention, the bicycledetection device according to the ninth aspect is configured so that thefirst detector and the second detector are configured to emit differentcolor lights.

In accordance with an eleventh aspect of the present invention, thebicycle detection device according to the second or sixth aspect isconfigured so that the first detector includes a plurality of firstcolor portions that are different colors from each other, the firstcolor portions are arranged in a direction in which the first operatingmember is moved, the second detector includes a plurality of secondcolor portions that are different colors from each other, and the secondcolor portions are arranged in a direction in which the second operatingmember is moved.

In accordance with a twelfth aspect of the present invention, thebicycle detection device according to any one of the ninth to eleventhaspects further comprises a guide portion within which a window isformed for guiding light to the sensor.

In accordance with a thirteenth aspect of the present invention, anoperating device is provided for a bicycle component that comprises thebicycle detection device according to any one of the first to twelfthaspects further comprising the first operating member and the secondoperating member.

In accordance with a fourteenth aspect of the present invention, thebicycle detector according to the thirteenth aspect is configured sothat the first operating member and the second operating member beingconfigured to operate the bicycle component.

In accordance with a fifteenth aspect of the present invention, theoperating device according to the fourteenth aspect is configured sothat the operating device includes a winding body movably mounted andconfigured to be connected to a cable, which is also coupled to thebicycle component. The first operating member is operatively coupled tothe winding body and rotates the winding body in a first direction inresponse to operation of the first operating member. The secondoperating member is operatively coupled to the winding body and rotatesthe winding body in a second direction in response to operation of thesecond operating member. The second direction is opposite to the firstdirection.

In accordance with a sixteenth aspect of the present invention, theoperating device according to the fourteenth or fifteenth aspect isconfigured so that the bicycle component is one of a transmission, asuspension and a seatpost.

In accordance with a seventeenth aspect of the present invention, abicycle control system is provided that comprises the operating deviceaccording to any one of the thirteenth to sixteenth aspects aspect, andfurther comprises a control apparatus configured to control a bicycleelectric component according to the first detection signal of the firststate and the second detection signal of the second state.

In accordance with an eighteenth aspect of the present invention, thebicycle control system according to the seventeenth aspect is configuredso that the control apparatus is configured to control a motor fordriving a bicycle according to a manual drive force, the first detectionsignal of the first state, and the second detection signal of the secondstate.

In accordance with a nineteenth aspect of the present invention, thebicycle control system according to the eighteenth aspect is configuredso that the control apparatus is configured to reduce an output of themotor according to the detection signal of the first state and thedetection signal of the second state.

In accordance with a twentieth aspect of the present invention, thebicycle control system according to the nineteenth aspect is configuredso that the control apparatus is configured to differentiate at leasteither a time to reduce the output of the motor or a reduction amount ofthe output of the motor between when the first detection signal of thefirst state is detected and when the second detection signal of thesecond state is detected.

With the bicycle detection device of the above mentioned aspects, theoperating device for a bicycle component comprising this bicycledetection device, and the bicycle control system comprising thisoperating device can be provided with a reduced number of sensors ascompared to conventional operating devices and conventional bicyclecontrol systems.

Also other objects, features, aspects and advantages of the discloseddetection device that is used to detect an operation of an operatingdevice for a bicycle component will become apparent to those skilled inthe art from the following detailed description, which, taken inconjunction with the annexed drawings, discloses preferred embodimentsof the detection device that is used to detect an operation of anoperating device for a bicycle component.

BRIEF DESCRIPTION OF THE DRAWINGS

Referring now to the attached drawings which form a part of thisoriginal disclosure:

FIG. 1 is a side elevational view of a bicycle that is equipped with abicycle control system in accordance with a first embodiment;

FIG. 2 is a top plan view of an operating device (i.e., a shiftoperating device) of the bicycle illustrated in FIG. 1;

FIG. 3 is a side elevational view of the operating device illustrated inFIG. 2 with the case or housing removed;

FIG. 4 is a schematic diagram of a portion of the operating deviceillustrated in FIGS. 2 and 3 with the first operating member and thesecond operating member of the operating device (i.e., the shiftoperating device) in reference positions with respect to a bicycledetection device;

FIG. 5 is a schematic diagram of the portion of the operating deviceillustrated in FIG. 4 with the first operating member of the operatingdevice in an operated position and the second operating member in thereference position;

FIG. 6 is a schematic diagram of the portion of the operating deviceillustrated in FIGS. 4 and 5 with the first operating member of theoperating device in the reference position and the second operatingmember in an operated position;

FIG. 7 is a graph showing a relationship between sensor output voltageand lever operation angle for the bicycle detection device illustratedin FIG. 4;

FIG. 8 is a simplified block diagram of the bicycle control systemillustrated in FIG. 1;

FIG. 9 is a flowchart showing a motor control procedure that is executedby the control apparatus illustrated in FIG. 8 for controlling a motor.

FIG. 10 is a simplified schematic diagram of a portion of an operatingdevice in accordance with a second embodiment with a first operatingmember and a second operating member of the operating device inreference positions with respect to a bicycle detection device;

FIG. 11 is a simplified schematic diagram of the portion of theoperating device illustrated in FIG. 10 with the first operating memberin an operated position and the second operating member in the referenceposition;

FIG. 12 is a simplified schematic diagram of the portion of theoperating device illustrated in FIG. 10 with the first operating memberin the reference position and the second operating member in an operatedposition;

FIG. 13 is a side elevational view of a bicycle equipped with a bicyclecontrol system in accordance with a third embodiment;

FIG. 14 is a simplified block diagram of the bicycle control systemillustrated in FIG. 13;

FIG. 15 is a simplified block diagram of a bicycle control system inaccordance with a fourth embodiment;

FIG. 16 is a simplified block diagram of a bicycle control systemaccording to a modification of the first embodiment;

FIG. 17 is a simplified schematic diagram of a portion of an operatingdevice in accordance with a first modification of the second embodimentwith the first operating member and the second operating member inreference positions with respect to a bicycle detection device;

FIG. 18 is a simplified schematic diagram of a portion of an operatingdevice in accordance with a second modification of the second embodimentwith the first operating member and the second operating member inreference positions with respect to a bicycle detection device;

FIG. 19 is a simplified schematic diagram of a portion of an operatingdevice in accordance with a modification of the embodiments with thefirst operating member and the second operating member of in referencepositions with respect to a bicycle detection device;

FIG. 20 is a simplified schematic diagram of the portion of theoperating device illustrated in FIG. 19 with the first operating memberin an operated position and the second operating member in the referenceposition;

FIG. 21 is a simplified schematic diagram of the portion of theoperating device illustrated in FIGS. 19 and 20 with the first operatingmember in the reference position and the second operating member in anoperated position;

FIG. 22 is a side elevational view of a bicycle equipped with a bicyclecontrol system in accordance with a fifth embodiment;

FIG. 23 is a simplified block diagram showing the configuration of thebicycle control system illustrated in FIG. 22 in accordance with thefifth embodiment;

FIG. 24 is a correction coefficient map showing an association between acorrection coefficient and a rotational angle;

FIG. 25 is a graph showing a temporal change in a base running assistforce;

FIG. 26 is a graph showing a temporal change in a running assist force;

FIG. 27 is a time constant map showing a relationship between a timeconstant and cadence in a first control state;

FIG. 28 is a time constant map showing a relationship between a timeconstant and cadence in a second control state;

FIG. 29 is a correction coefficient map showing an association between acorrection coefficient and a rotational angle in a first control stateand a second control state;

FIG. 30 is a graph showing a relationship between time constant andcadence in a first control state and a second control state; and

FIG. 31 is a flowchart showing a control operation that is executed bythe bicycle control apparatus in accordance with the fifth embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS

Selected embodiments will now be explained with reference to thedrawings. It will be apparent to those skilled in the bicycle field fromthis disclosure that the following descriptions of the embodiments areprovided for illustration only and not for the purpose of limiting theinvention as defined by the appended claims and their equivalents.

Referring initially to FIG. 1, a bicycle 10 is illustrated that isequipped with a bicycle control system in accordance with a firstembodiment. The bicycle 10 basically comprises a frame 12, a handlebar14, a front wheel 16, a rear wheel 18, a drive mechanism 20, an assistmechanism 22, a battery unit 24, a gear shifting device 26 (e.g. abicycle component), a torque sensor 48 (see FIG. 8) and a bicyclecontrol system 50.

The drive mechanism 20 comprises a pair of (left and right) crank arms28, a crankshaft 30, a pair of (left and right) pedals 32, a frontsprocket 34, a rear sprocket 36 and a chain 38. The left and right crankarms 28 are fixed to opposite ends of a crankshaft 30 that is rotatablysupported to the frame 12. The left and right crank arms 28 arerotatably attached to the frame 12 via the crankshaft 30. The pedals 32are attached to the crank arms 28 such that each of the pedals 32 isrotatably disposed around a pedal shaft 32A.

The front sprocket 34 is coupled to the crankshaft 30. The frontsprocket 34 is provided coaxially with the crankshaft 30. The frontsprocket 34 can be coupled so as to not rotate relatively with thecrankshaft 30 or via a one-way clutch (not shown in the drawings) sothat the front sprocket 34 will roll forward when the crankshaft 30rolls forward.

The rear sprocket 36 is rotatably attached around an axle 18A of therear wheel 18. The rear sprocket 36 is coupled with the rear wheel 18via a one-way clutch. The chain 38 is wrapped onto the front sprocket 34and the rear sprocket 36. When the crank arm 28 rotates due to themanual drive force that is applied to the pedal 32, the rear wheel 18 isrotated by the front sprocket 34, the chain 38 and the rear sprocket 36.

The assist mechanism 22 comprises a motor 40 that is a bicycle electriccomponent and a drive circuit 42 (see FIG. 8). The assist mechanism 22assists the manual drive force that rotates the front sprocket 34 withthe drive of the motor 40. The assist mechanism 22 drives the motor 40according the manual drive force that is detected by the torque sensor48 (see FIG. 8). The motor 40 is an electric motor. The rotation of themotor 40 is transmitted to the front sprocket 34 via a reduction gear,which is not shown. A one-way clutch (not shown in the drawings) can beprovided between the motor 40 and the front sprocket 34 for preventingthe motor from being rotated by the manual drive force when the crankarm 28 rolls forward.

The battery unit 24 comprises a battery 44 and a battery holder 46 fordetachably attaching the battery 44 to the frame 12. The battery 44includes one or a plurality of battery cells. The battery 44 isconfigured as a secondary battery. The battery 44 is electricallyconnected to the motor 40 and supplies electric power to the motor 40.

The gear shifting device 26 shifts the input rotation to the rearsprocket 36 and transmits this to the rear wheel 18. The gear shiftingdevice 26 is an internal transmission that is integrated with a hub ofan axle 18A of the rear wheel 18. On the inside, the gear shiftingdevice 26 comprises a planetary gear mechanism, which is not shown. Asshown in FIG. 2, one end of an inner cable CA of a cable C is wound ontothe gear shifting device 26 for gear shifting. A mechanical elementinside of the gear shifting device 26 is rotated by a movement of theinner cable CA. With this arrangement, the connection state of the gearsof the planetary gear mechanism changes, and the gear ratio of thebicycle 10 changes in a stepwise manner.

The bicycle control system 50 comprises an operating device 52, adetection device 54 (see FIG. 4) and a control apparatus 56. Theoperating device 52 is operatively connected to the gear shifting device26 by the cable C for operating the gear shifting device 26. The controlapparatus 56 comprises, for example, a microcomputer having at least oneprocessor with one or more control programs (software) stored in astorage unit (at least one memory device).

As shown in FIG. 2, the operating device 52 comprises a case or housing58, a main body portion 60, a first operating member 62 and a secondoperating member 64. The case 58 is fixed to the handlebar 14. The mainbody portion 60 is housed in the case 58 (see FIG. 3), and constitutesan internal support structure for the parts of the shifting mechanism.The first operating member 62 is movably mounted to the main bodyportion 60 between a rest position and an operated position. Likewise,the second operating member 64 is movably mounted to the main bodyportion 60 between a rest position and an operated position.

As shown in FIG. 2, the case 58 comprises a holder 66 (i.e., a handlebarclamp in the illustrated embodiment) and a display unit 68 (i.e., a gearposition indictor in the illustrated embodiment). As shown in FIG. 3,the main body portion 60 comprises a winding body 70, a first ratchet72, a second ratchet 74 and a biasing member 76. The holder 66 isdetachably attached to the handlebar 14. The display unit 68 isconfigured to show the current shift position. An indicator 68A of thedisplay unit 68 is linked with the winding body 70 of the main bodyportion 60 (see FIG. 3).

As shown in FIG. 3, the winding body 70 is configured to pull andrelease the inner cable CA. The first ratchet 72, the second ratchet 74and the biasing member 76 are coupled to the winding body 70 forregulating the rotation of the winding body 70. One end portion of theinner cable CA is fitted to a cable connection of the winding body 70 sothat the one end portion of the inner cable CA is fixed to the windingbody 70. The other end portion of the inner cable CA is fitted to acable connection of the gear shifting device 26 so that the other endportion of the inner cable CA is fixed to the gear shifting device 26.

The first ratchet 72 is a disk-shaped or fan-shaped member. The firstratchet 72 comprises a plurality of ratchet teeth on its outerperipheral surface. The second ratchet 74 is a disk-shaped or fan-shapedmember. The second ratchet 74 comprises a plurality of ratchet teeth onits outer peripheral surface. The first ratchet 72 and the secondratchet 74 are superimposed (stacked in an axial direction with respectto an axis of rotation of the winding body 70. The first ratchet 72 andthe second ratchet 74 are fixedly coupled to the winding body 70. Thus,the first ratchet 72 and the second ratchet 74 move as a unit with thewinding body 70 in one rotational direction or the other. The biasingmember 76 is, for example, a coil spring that is coupled between themain body portion 60 and the winding body 70. The biasing member 76applies a biasing force on the winding body 70 in one rotationaldirection that corresponds to releasing the inner cable CA with respectto the case 58.

The first operating member 62 moves the winding body 70 in a firstrotational direction. The first operating member 62 is an operatingmember for upshifting. The first operating member 62 comprises anoperating lever 78 and a lever shaft 80. The lever shaft 80 is mountedto the main body portion 60 and pivotally supports the lever 78 on themain body portion 60. The lever shaft 80 extends through a proximal endportion 78A of the lever 78. The lever 78 rotates about a centerlongitudinal axis of the lever shaft 80. The lever shaft 80 is providedcoaxially with the rotational axis of the winding body 70. The firstratchet 72 and the second ratchet 74 rotate about the centerlongitudinal axis of the lever shaft 80.

In the illustrated embodiment, the lever 78 has a pulling pawl (notshown) pivotally mounted on a proximal end portion 78A of the lever 78.The pulling pawl is biased towards the first ratchet 72. If the firstoperating member 62 is operated from a reference (rest or neutral)position in a first direction RA about the lever shaft 80 (see FIG. 2),and if the operation angle of the lever 78 becomes equal to or greaterthan a prescribed angle, then the pulling pawl (not shown) engages atooth of the first ratchet 72 to rotate the first ratchet 72 rotates inthe first rotational direction. The winding body 70 is thereby rotatedin the first rotational direction, and the inner cable CA is pulled orwound. Accordingly, the inner cable CA is pulled back to the operatingdevice 52, and the shift position of the gear shifting device 26(FIG. 1) is changed. The main body portion 60 has a holding pawl (notshown) pivotally mounted on the main body portion 60 for holding therotational position of the winding body 70. The holding pawl selectivelyengages the teeth on the outer periphery of the second ratchet 74. Abiasing member (not shown in the drawings) is attached to the levershaft 80. The biasing member is, for example, a coil spring or a platespring. The biasing member imparts a biasing force onto the firstoperating member 62 toward a second direction RB of the lever shaft 80,which is opposite of the first direction RA (see FIG. 2). Accordingly,the first operating member 62 is biased in the second direction RB ofthe lever shaft 80, and returns to the reference (rest or neutral)position when not being operated.

The second operating member 64 moves the winding body 70 in a secondrotational direction that is opposite the first rotational direction.The second operating member 64 is an operating member for downshifting.The second operating member 64 comprises an operating lever 82, a levershaft 84 and a release mechanism 86. The lever shaft 84 is mounted tothe main body portion 60 and pivotally supports the lever 82 on the mainbody portion 60. The lever shaft 84 is offset from the lever shaft 80.The lever shaft 84 is arranged in a position that is parallel to thelever shaft 80. The lever shaft 84 extends through a proximal endportion 82A of the lever 82. The lever 82 rotates about a centerlongitudinal axis of the lever shaft 84. The release mechanism 86 issupported by the proximal end portion 82A. The release mechanism 86 isprovided adjacent the outer periphery of the second ratchet 74. Therelease mechanism 86 is configured to disengage the holding pawl fromthe second ratchet 74.

If the second operating member 64 is operated from a reference (rest orneutral) position in a third direction RC about the lever shaft 84 (seeFIG. 2), and if the operation angle of the lever 82 becomes equal to orgreater than a prescribed angle, the engagement between the holding pawland the second ratchet 74 is released by the release mechanism 86. Thus,the second ratchet 74 is freed to move in the second rotationaldirection along with the winding body 70 by the biasing member 76. Thewinding body 70 thereby rotates in the second rotational direction, andthe inner cable CA is fed or releases. Accordingly, the inner cable CAis released to the gear shifting device 26 shown in FIG. 1, and theshift position of the gear shifting device 26 is changed. The holdingmechanism holds the winding body 70 in a position where the winding body70 has been rotated a rotational amount of one gear. A biasing member(not shown in the drawings) is attached to the lever shaft 84. Thebiasing member is, for example, a coil spring or a plate spring. Thebiasing member imparts a force to the second operating member 64 towarda fourth direction RD of the lever shaft 84, which is opposite of thethird direction RC (see FIG. 2). Accordingly, the second operatingmember 64 is biased in the fourth direction RD of the lever shaft 84 andreturns to the reference (rest or neutral) position when not beingoperated.

The directions in which the first operating member 62 and the secondoperating member 64 are operated from the reference (rest or neutral)position are configured to be opposite directions of each other. Thatis, the gear is shifted by the rider pressing the first operating member62 and pulling the second operating member 64. The directions in whichthe first operating member 62 and the second operating member 64 areoperated from the reference (rest or neutral) position can also be thesame direction. That is, the configuration can be such that the gear isshifted by the rider pressing in the case of both the first operatingmember 62 and the second operating member 64. The mechanism to operatethe winding body 70 of the operating device 52 is not limited to theconfiguration described above, and various configurations can beemployed.

As shown in FIG. 4, the detection device 54 is provided to the operatingdevice 52. The detection device 54 is electrically connected to thecontrol device 56 (see FIG. 8). The detection device 54 outputs adetection signal in response to the movement of the operating members 62and 64. The detection device 54 comprises a single sensor 88, a firstdetector 90, and a second detector 92. As used herein, the term“detector” refers to an element that is detected by the single sensor88.

As shown in FIG. 4, the sensor 88 is disposed inside of the case 58. Asshown in FIG. 8, the sensor 88 comprises a Hall element 94 and anamplifier circuit 96. The sensor 88 outputs an output voltage Vcorresponding to the size of the magnetic flux density that is appliedto the Hall element 94. The increase/decrease of the signal that isoutput from the Hall element 94 is reversed depending on the directionof the magnetic pole that is applied to the Hall element 94. The Hallelement 94 is a so-called linear Hall element.

The first detector 90 is a magnet. The first detector 90 is provided toa proximal end portion 78A of the lever 78. As shown in FIG. 4, thefirst detector 90 is disposed on the edge of the proximal end portion78A. The first detector 90 moves in the first direction RA when thelever 78 is operated by the rider, as shown in FIG. 5. The firstdetector 90 moves in the second direction RB by the force of a spring(not shown in the drawings). The first detector 90 returns to thereference position shown in FIG. 4 when the lever 78 is released by therider.

The second detector 92 is a magnet. The second detector 92 is providedto a proximal end portion 82A of the lever 82. As shown in FIG. 4, thesecond detector 92 is disposed on the edge of the proximal end portion82A. The second detector 90 moves in the third direction RC when thelever 82 is operated by the rider, as shown in FIG. 6. The seconddetector 90 moves in the fourth direction RD by the force of a spring(not shown in FIG. 3). The second detector 90 returns to the referenceposition shown in FIG. 4 when the lever 82 is released by the rider.

The first detector 90 and the second detector 92 are disposedsandwiching a sensor 88 in their reference positions, as viewedperpendicular to the axis of rotation of the levers 78 and 82 when thelevers 78 and 82 are not being operated. The magnetic pole of the firstdetector 90 that is on the side closer to the sensor 88 and the magneticpole of the second detector 92 on the side closer to the sensor 88 haveopposite magnetisms.

As shown in FIG. 7, when the first detector 90 and the second detector92 are in the reference positions, the sensor 88 outputs the sensoroutput voltage V that corresponds to a reference voltage VA.

A first distance between the sensor 88 and the first detector 90decreases as the lever operation angle from the reference position ofthe first operating member 62 increase. In other words, the more thelever 78 is rotated from the reference position in the first directionRA, the first distance between the sensor 88 and the first detector 90becomes smaller. Consequently, as shown by the solid line LA in FIG. 7,the sensor output voltage V increases as the lever operation angle ofthe first operating member 62 increases. Accordingly, a first level of afirst detection signal of the first state, which is output by the sensor88, continuously increases as the output voltage becomes increases in agreater than the reference voltage VA. When the first detector 90 is inthe reference position, the first distance between the sensor 88 and thefirst detector 90 is equal to or greater than a first prescribeddistance. When the distance from the first detector 90 is equal to orgreater than the first prescribed distance, the sensor 88 outputs thereference voltage VA. When the first detection signal of the firststate, which is output by the sensor 88, becomes equal to or greaterthan a first threshold value that is set in advance, the controlapparatus 56 determines that the first gear changing signal SA has beendetected. If the first detection signal of the first state is less thanthe first threshold value that is set in advance, then the controlapparatus 56 determines that the first gear changing signal SA has notbeen detected. The first threshold value set in advance is set to beadjustable.

The second distance between the sensor 88 and the second detector 92decreases as the lever operation angle from the reference position ofthe second operating member 64 increases, that is, the more the lever 82is rotated from the reference position in the third direction RC.Additionally, the magnetic pole of the first detector 90 that is on theside closer to the sensor 88 and the magnetic pole of the seconddetector 92 on the side closer to the sensor 88 have oppositemagnetisms. Consequently, as shown by the dashed line LB in FIG. 7, thesensor output voltage V decreases as the lever operation angle of thesecond operating member 64 increases. Accordingly, a second level of thesecond detection signal of the second state, which is output by thesensor 88, continuously decreases as an output voltage that is less thanthe reference voltage VA. When the second detector 92 is in thereference position, the second distance between the sensor 88 and thesecond detector 92 is equal to or greater than a second prescribeddistance. When the distance from the second detector 92 is equal to orgreater than the second prescribed distance, the sensor 88 outputs thereference voltage VA. When the detection signal of the second state,which is output by the sensor 88, becomes less than or equal to a secondthreshold value that is set in advance, the control apparatus 56determines that a second gear changing signal SB has been detected. Ifthe second detection signal of the second state exceeds the secondthreshold value that is set in advance, the control apparatus 56determines that the second gear changing signal SA has not beendetected. The second threshold value set in advance is set to beadjustable.

As shown in FIG. 1, the drive force from the crank arm 28 and the driveforce from the motor 40 are input into the gear shifting device 26. Whenchanging the shift position, the gear shifting device 26 changes theconnection state (gear ratio) of the gears of the planetary gearmechanism by operating a mechanical element that is moved by the innercable CA. As a higher torque is input into the gear shifting device 26,the mechanical element becomes more difficult to operate. For thisreason, the control apparatus 56 controls the motor 40 based on theoutput signal of the detection device 54.

The control apparatus 56 is programmed to carry out the controlprocedure of FIG. 9 once every prescribed period. The control procedureof FIG. 9 is prestored in a memory device of the control apparatus 56.

In step S11, the control apparatus 56 is programmed to determine whetheror not a first gear changing signal SA has been detected. Specifically,when the control apparatus 56 determines that the first detection signalof the first state has become equal to or greater than the firstthreshold value that is set in advance, the operation proceeds to stepS12. In step S12, the control apparatus 56 is programmed to reduce theoutput of the motor 40 based on a first condition.

When a determination is made by the control apparatus 56 in step S11that a first gear changing signal SA has not been detected, the controlapparatus 56 proceeds to step S13. In step S13, the control apparatus 56is programmed to determine whether or not a second gear changing signalSB has been detected. Specifically, when the control apparatus 56determines that the second detection signal of the second state hasbecome equal to or greater than the second threshold value that is setin advance, the operation proceeds to step S14. In step S14, the controlapparatus 56 is programmed to reduce the output of the motor 40 based ona second condition, which is different from the first condition. Thefirst condition and the second condition include the time needed todecrease the output of the motor 40.

When the output of the motor 40 is reduced based on the first conditionand a first prescribed time has elapsed since the output of the motor 40was reduced, the control apparatus 56 ends the control to reduce theoutput of the motor 40. The first prescribed time is preferably set to atime that is sufficiently greater than the standard time that isconsidered necessary for the gear shifting device 26 to upshift.

When the output of the motor 40 is reduced based on the second conditionand a second prescribed time has elapsed since the output of the motor40 was reduced, the control apparatus 56 ends the control to reduce theoutput of the motor 40. The second prescribed time is preferably set toa time that is sufficiently greater than the standard time that isconsidered necessary for the gear shifting device 26 to downshift. Thesecond prescribed time can be set to either a time that is differentfrom the first prescribed time or a time that is the same as the firstprescribed time.

The bicycle control system 50 performs the following actions and obtainsthe following effects.

(1) The detection device 54 detects the movements of the first operatingmember 62 and the second operating member 64 with the single sensor 88.Consequently, reducing the number of sensors, when compared to aconfiguration in which the movement of the first operating member 62 andthe movement of the second operating member are detected using separatesensors, is possible. Additionally, since the number of sensors can bereduced, reducing the weight of the detection device 54 is possible.

(2) The first detection signal of the first state continuously changesaccording to the first distance between the sensor 88 and the firstdetector 90. The second detection signal of the second statecontinuously changes according to the second distance between the sensor88 and the second detector 92. For this reason, detecting the operationamount of the first operating member 62 and the second operating member64 is possible.

(3) The control apparatus 56 reduces the output of the motor 40 inresponse to the first gear changing signal SA and the second gearchanging signal SB. Accordingly, reducing the torque that is applied tothe gear shifting device 26 during shifting is possible; therefore, theshifting performance is improved.

(4) The control apparatus 56 can reduce the torque that is appropriatefor upshifting and for downshifting by differentiating the time toreduce the output of the motor 40 between when receiving the first gearchanging signal SA and when receiving the second gear changing signalSB.

(5) The detection device 54 is configured to output the first detectionsignal of the first state and the second detection signal of the secondstate to the control apparatus 56 when the operation angles of thelevers 78 and 82 are less than a prescribed angle, that is, within arange wherein the winding body 70 will not move even if the operatingmembers 62 and 64 move. That is, the control apparatus 56 is able todetect the gear changing signals SA and SB before the inner cable CAbegins to be moved by the winding body 70. For this reason, controllingthe output of the motor 40 before the gear shifting device 26 starts theoperation to change the gear ratio is possible. For this reason, theshifting performance is further improved.

Second Embodiment

As shown in FIG. 10, the bicycle control system of the presentembodiment comprises a detection device 100. The detection device 100comprises a sensor 102, a light emitting part 104, a first detector 106,a second detector 108 and a light shielding sheet 110.

The sensor 102 is a color sensor comprising a plurality of lightreceiving elements 102A. The light receiving element 102A is, forexample, a photodiode or CCD. Each of the light receiving elements 102Ais covered by color filters with different colors (not shown in thedrawings). Accordingly, the sensor 102 outputs a signal corresponding tothe received color.

The first detector 106 and the second detector 108 are different colorsfrom each other. Accordingly, the first detector 106 and the seconddetector 108 each reflect light corresponding to a different color thanthe other.

The light emitting part 104 and the sensor 102 are disposed on theopposite side of the first detector 106 and the second detector 108across the light shielding sheet 110. A guide portion 112 is formed in aportion of the light shielding sheet 110 where the light emitting part104 and the sensor 102 are disposed. The guide portion 112 includes awindow 112A. The window 112A guides light to the sensor 102. The lightemitting part 104 can be disposed between the light shielding sheet 110and the first and second detectors 106 and 108. In short, the lightemitting part 104 can be disposed in any position capable of irradiatinglight on the first and second detectors 106 and 108.

When the lever 78 is operated by the rider, the first detector 106 shownin FIG. 10 moves in the first direction RA, as shown in FIG. 11. Whenthe first detector 106 moves into alignment with the window 112A, thelight of the light emitting part 104 is irradiated on the first detector106. The first detector 106 reflects light corresponding to the color ofthe first detector 106. Of the light receiving elements 102A, the outputvoltage of the light receiving element 102A that corresponds to thereflected light is changed. The sensor 102 outputs a detection signal ofthe first state based on the change in the output voltage of the lightreceiving element 102A that corresponds to the reflected light.

When the lever 82 is operated by the rider, the second detector 108shown in FIG. 10 moves in the third direction RC, as shown in FIG. 12.When the second detector 108 moves into alignment with the window 112A,the light of the light emitting part 104 is irradiated on the seconddetector 108. The second detector 108 reflects light corresponding tothe color of the second detector 108. Of the light receiving elements102A, the output voltage of the light receiving element 102A thatcorresponds to the reflected light is changed. The sensor 102 outputs adetection signal of the second state based on the change in the outputvoltage of the light receiving element 102A that corresponds to thereflected light.

The detection device 100 is configured to detect the movements of thefirst operating member 62 and the second operating member 64 with thesingle sensor 102. Accordingly, reducing the number of sensors in thedetection device 100 is possible.

Third Embodiment

As shown in FIG. 13, a bicycle 10′ is equipped with a bicycle controlsystem 150 in accordance with a third embodiment. Here, the bicycle 10′has a frame 12′ comprises a main frame 12A and a swing arm 12B′. Theswing arm 12B′ is pivotally coupled to the rear end of the main frame12A′. For the sake of simplicity, the parts of the bicycle 10′ that arethe same as the parts of the bicycle 10 will be given the same referencenumeral. Thus, the bicycle 10′ includes the front wheel 16 and the rearwheel 18. The bicycle control system of the third embodiment comprisesan electric front suspension 120 and an electric rear suspension 122.The electric front suspension 120 is a bicycle component and moreparticularly a bicycle electric component. The electric rear suspension122 is a bicycle component and more particularly a bicycle electriccomponent. The front suspension 120 connects the front end of the mainframe 12A′ and the front wheel 16. The rear suspension 122 is coupled tothe rear end of the main frame 12A′ and the swing arm 12B′. The rearwheel 18 is rotatably attached to the swing arm 12B′.

As shown in FIG. 14, an adjustment device 126 is coupled to the frontsuspension 120. The adjustment device 126 comprises a driver 128 and anactuator 130. An adjustment device 132 is coupled to the rear suspension122. The adjustment device 132 comprises a driver 134 and an actuator136.

The operating device 140 comprises a first operating member 142, asecond operating member 144 and a detection device 146. The firstoperating member 142 is configured in the same way as the firstoperating member 62 of the first embodiment. The first operating member142 is configured to be operated from a reference position and to returnto the reference position when the hand is released. The secondoperating member 144 is configured in the same way as the secondoperating member 64 of the first embodiment. The second operating member144 is configured to be operated from a reference position and to returnto the reference position when the hand is released. The detectiondevice 146 includes the sensor 88, the first detector 90 and the seconddetector 92. The configuration of the sensor 88 is the same as that inthe first embodiment, and the description thereof has been omitted. Thefirst detector 90 is provided on the first operating member 142 in thesame way the first detector 90 is provided on the first operating member62 of the first embodiment. The second detector 92 is provided on thesecond operating member 144 in the same way the second detector 92 isprovided on the second operating member 64 of the first embodiment.

The control apparatus 56 drives the actuators 130 and 136 via thedrivers 128 and 134, based on a first detection signal of the firststate that is output by operating the first operating member 142. Atleast either the damping, rebound, hardness, or height of thesuspensions 120 and 122 is adjusted continuously or in a stepwisemanner, according to the operation amount of the first operating member142 via the driving of the actuators 130 and 136. Here, for example, thedamping is increased, the rebound is increased, the hardness isincreased, or the height is increased, according to the operation amountof the first operating member 142. The control apparatus 56 maintainsthe damping, rebound, hardness, and height, which are adjustedcorresponding to the position at which the operation amount of the firstoperating member 142 became the greatest, until the second operatingmember 144 is operated.

The control apparatus 56 drives the actuator 130 based on a seconddetection signal of the second state that is output by operating thesecond operating member 144. At least either the damping, rebound,hardness, or height of the suspensions 120 and 122 is adjusted accordingto the operation amount of the second operating member 144 via thedriving of the actuators 130 and 136. The control apparatus 56 isprogrammed to adjust at least one of the damping, the rebound, thehardness, and the height of the suspensions 120 and 122, eithercontinuously or in a stepwise manner in a different direction dependingon whether the first operating member 142 is operated or the secondoperating member 144 is operated. Here, for example, the damping isdecreased, the rebound is decreased, the hardness is decreased, and/orthe height is decreased, according to the operation amount of the secondoperating member 144. The control apparatus 56 is programmed to maintainthe damping, the rebound, the hardness, and the height, which areadjusted corresponding to the position at which the operation amount ofthe second operating member 144 became the greatest, until the firstoperating member 142 is operated. Which of the damping, the rebound, thehardness, or the height parameters is changed and how that parametershould be changed when the first operating member 142 and the secondoperating member 144 are operated can be set in the control apparatus 56in advance. Alternately, this can be set in the control apparatus 56 bythe user by using at least one of a cycle computer and an externaldevice, such as a personal computer, a smartphone, etc.

Fourth Embodiment

As shown in FIG. 15, a bicycle control system 150′ is illustrated inaccordance with a fourth present embodiment. The bicycle control system150′ is mounted to the bicycle 10′. The bicycle 10′ comprises anelectric seatpost 124, which is a bicycle component and moreparticularly a bicycle electric component. The seatpost 124 adjusts theheight of a saddle S (see FIG. 13). An adjustment device 148 is coupledto the seatpost 124. The adjustment device 148 comprises a driver 150and an actuator 152.

The operating device 154 comprises a first operating member 156, asecond operating member 158 and a detection device 160.

The first operating member 156 is configured in the same way as thefirst operating member 62 of the first embodiment. The first operatingmember 156 is configured to be operated from a reference position and toreturn to the reference position when the hand is released. The secondoperating member 158 is configured in the same way as the secondoperating member 64 of the first embodiment. The second operating member158 is configured to be operated from a reference position and to returnto the reference position when the hand is released. The detectiondevice 160 includes the sensor 88, the first detector 90 and the seconddetector 92. The configuration of the sensor 88 is the same as that inthe first embodiment, and the description thereof has been omitted. Thefirst detector 90 is provided on the first operating member 142 in thesame way the first detector 90 is provided on the first operating member62 of the first embodiment. The second detector 92 is provided on thesecond operating member 144 in the same way the second detector 92 isprovided on the second operating member 64 of the first embodiment.

The control apparatus 56 drives the actuator 152 via the driver 150,based on a first detection signal of the first state that is output byoperating the first operating member 156. The seatpost 124 is extendedor contracted continuously or in a stepwise manner according to theoperation amount of the first operating member 156 via the driving ofthe actuator 152.

The control apparatus 56 drives the actuator 152 based on a magnitude ofthe second detection signal of the second state that is output byoperating the second operating member 158. The seatpost 124 is extendedor contracted according to the operation amount of the second operatingmember 158 via the driving of the actuator 152. The control apparatus 56adjusts the seatpost 124 in a different direction, depending on whetherthe first operating member 156 is operated or the second operatingmember 158 is operated. The behavior of the seatpost 124 when the firstoperating member 156 and the second operating member 158 are operatedcan be set in the control apparatus 56 in advance or can be set in thecontrol apparatus 56 by the user by using at least either an externaldevice, such as a personal computer or a smartphone, or a cyclecomputer.

Modified Example of First to Fourth Embodiments

The specific forms that the bicycle control system, etc. can take arenot limited to the forms described in the first to the fourthembodiments. The bicycle control system, etc. can take various formsthat are different from those explained in the first to the fourthembodiments. The modified example of the first to the fourth embodimentsdescribed below is one example of the various forms that the bicyclecontrol system, etc. can take.

-   -   As shown in FIG. 16, a control system 150″ is illustrated in        which the gear shifting device 26 of the first embodiment is        replaced with an electric gear shifting device 98, as shown in        FIG. 16. The gear shifting device 98 comprises a driver 98A, an        actuator 98B and a transmission 98C. The transmission 98C is        configured in the same way as the gear shifting device 26 of the        first embodiment, and the actuator 98B is coupled to the portion        that is operated by the inner cable CA. The control apparatus 56        drives the actuator 98B via the driver 98A, based on a first        detection signal of a first state and a second detection signal        of a second state. The shift position of the transmission 98C is        thereby changed.    -   The sensor 88 of the first embodiment can be changed to a sensor        in which the output voltage V changes in a stepwise manner        according to the distance from the detectors 90 and 92 when the        distance from the detectors 90 and 92 is less than a prescribed        distance.    -   The sensor 88 of the first embodiment can be changed to a sensor        in which the output voltage V becomes a prescribed output        voltage V when the distances from the detectors 90 and 92 is        less than a prescribed distance. In this case, the magnetic pole        of the first detector 90 that is on the side closer to the        sensor 88 and the magnetic pole of the second detector 92 on the        side closer to the sensor 88 are reversed. The increase/decrease        of the output voltage V with respect to a reference voltage VA        is reversed, depending on whether the distance between the        sensor 88 and the first detector 90 becomes less than a        prescribed distance or the distance between the sensor 88 and        the second detector 92 becomes less than a prescribed distance.        As a result, detecting the movements of the two operating        members 62 and 64 with the single sensor 88 becomes possible.    -   In the modified example described above, the magnetic pole of        the first detector 90 that is on the side closer to the sensor        88 and the magnetic pole of the second detector 92 on the side        closer to the sensor 88 can also match. In this case, for        example, the first detector 90 is comprised of one magnet and        the second detector 92 is comprised of two magnets. A detection        signal in which a prescribed output voltage V has been reached        within a prescribed period once becomes the detection signal of        the first state, and a detection signal in which the prescribed        output voltage V has been reached twice within a prescribed        period becomes the detection signal of the second state.    -   In the first condition and the second condition of the first        embodiment, the control apparatus 56 can also differentiate the        reduction amount of the output of the motor 40, depending on        whether the first gear changing signal SA is detected or the        second gear changing signal SB is detected.    -   In the first embodiment, the control apparatus 56 can make the        time to reduce the output of the motor 40 the same, regardless        of whether the first gear changing signal SA is detected or the        second gear changing signal SB is detected.    -   Additionally, as shown in FIG. 17, the first detector 106 and        the second detector 108 in the detection device 100 of the        second embodiment can be changed. The first detector 106        comprises a plurality of first color portions 106A that are        different colors from each other. The second detector 108        comprises a plurality of second color portions 108A that are        different colors from each other. The colors of the first color        portions 106A are different from the second color portions 108A.        The first color portions 106A are arranged in a direction in        which the first operating member 62 and the first detector 106        are moved. The second color portions 108A are arranged in a        direction in which the second operating member 64 and the second        detector 108 are moved. In this modified example, the sensor 102        outputs a detection signal according to the detected color. As a        result, the control apparatus 56 is able to conduct a control        corresponding to the operation amount of the operating members        62 and 64.    -   In the modified example shown in FIG. 17, the first color        portions 106A and the second color portions 108A are each        configured to emit light. In this case, the first color portions        106A and the second color portions 108A are formed of, for        example, LEDs.    -   In the modified example shown in FIG. 17, the colors of the        first color portions 106A and the second color portions 108A can        be arranged so that the order of the colors detected by the        sensor 102, when the first operating member 62 and the second        operating member 64 are operated from a state of not being        operated, is different. In this case, matching at least either        the colors of the first color portions 106A or the second color        portions 108A is possible. The control apparatus 56 is able to        determine whether the first operating member 62 or the second        operating member 64 has been operated, as well as the operation        amount of the operating members 62 and 64, by knowing the order        of the detected signals, that is, the order of the colors.    -   As shown in FIG. 18 also, it is possible to change the first        detector 106 and the second detector 108 in the detection device        100 of the second embodiment to detectors that are different        colors from each other by emitting light. In this case, the        first detector 106 and the second detector 108 are formed of,        for example, LEDs. In this case, the light emitting part 104 can        be omitted as well.    -   Also, as shown in FIG. 19, it is possible to configure the first        operating member 62, 142, and 156 in each of the embodiments to        be movable between the first detectors 90 and 106 and the sensor        88, and to configure the second operating members 64, 144, and        158 to be movable between the second detectors 92 and 108 and        the sensor 88. In this case, for example, the first detector 90        and the second detector 92 are fixed in positions that are less        than a prescribed distance from the sensor 88. The proximal end        portion 78A of the lever 78 is formed of a magnetic material.        The edge of the proximal end portion 78A can be moved between        the first detector 90 and the sensor 88. The proximal end        portion 82A of the lever 82 is formed of a magnetic material.        The edge of the proximal end portion 82A can be moved between        the second detector 92 and the sensor 88. When the lever 78 and        the lever 82 are in the reference positions, the magnetic flux        of the first detector 90 and the second detector 92 reaches the        sensor 88.

As shown in FIG. 20, when the proximal end portion 78A reaches aposition opposing the first detector 90 via an operation of the firstoperating member 62, the magnetic flux of the first detector 90 isblocked by the proximal end portion 78A and will not reach the sensor88. Consequently, a detection signal of the first state in which theoutput voltage V of the sensor 88 has been decreased is output.

As shown in FIG. 21, when the proximal end portion 82A reaches aposition opposing the second detector 92 via an operation of the secondoperating member 64, the magnetic flux of the second detector 92 isblocked by the proximal end portion 82A and will not reach the sensor88. Consequently, a second detection signal of the second state in whichthe output voltage V of the sensor 88 has been increased is output.

-   -   In the modified example shown in FIGS. 19 to 21, it is also        possible to provide holes to the proximal end portions 78A and        82A. In this case, the proximal end portions 78A and 82A, the        first detector 90, the second detector 92, and the sensor 88 are        disposed so that, when the holes of the proximal end portions        78A and 82A reach positions corresponding to the first detector        90 and the second detector 92, the magnetic flux of the first        detector 90 and the second detector 92 will reach the sensor 88.        Accordingly, a detection signal of the first state is output        when the hole of the proximal end portion 78A reaches a position        corresponding to the first detector 90, and a detection signal        of the second state is output when the hole of the proximal end        portion 82A reaches a position corresponding to the second        detector 92.

Fifth Embodiment

Referring now to FIG. 22, a side elevational view of a bicycle 201 isillustrated which is equipped with a bicycle control apparatus 1 inaccordance with a fifth embodiment. As shown in FIG. 22, the bicycle 201comprises a frame 202, a handlebar 204, a drive unit 205, a front wheel206 and a rear wheel 207. In the fifth embodiment, the bicycle 201 is amountain bike comprising a front suspension 220 and a rear suspension222 on the frame 202. However, the bicycle control apparatus 1 can alsobe used with a bicycle that does not have a front and/or rearsuspension.

The drive unit 205 comprises a chain 210, a pair of pedals 211, a crank212, an assist mechanism 215 and a detachable rechargeable battery B.Each of these is supported by the frame 202. The pedals 211 are attachedto the crank 212. The detachable rechargeable battery B serves as apower source for the assist mechanism 215. The crank 212 comprises acrank axle 212A and a pair of crank arms 212B. Each crank arm 212B isprovided to the two ends of the crank axle 212A. The drive unit 205further comprises a plurality of front sprockets 234. The frontsprockets 234 are directly or indirectly connected to the crank 212. Therear wheel 207 includes a plurality of rear sprockets 236. The chain 210is wrapped around between one of the front sprockets 234 and one of therear sprockets 236 to transmit the drive force. The rechargeable batteryB is detachably mounted to the frame 202. The rechargeable battery B isa storage battery that includes, for example, a nickel hydride cell or alithium ion cell.

The drive unit 205 comprises a front transmission mechanism 238 and arear transmission mechanism 240. The front transmission mechanism 238switches the chain 210 among the front sprockets 234. The reartransmission mechanism 240 switches the chain 210 among the rearsprockets 236. The front transmission mechanism 238 and the reartransmission mechanism 240 are each controlled by a gear changingcontrol apparatus (not shown in the drawings) that is provided to thehandlebar 204. The front sprocket 234 can be configured by one of these,in which case the front transmission mechanism 238 is omitted.

FIG. 23 is a block diagram that depicts the bicycle control apparatus 1.As shown in FIG. 23, the bicycle control apparatus 1 comprises a firstdetector 2, a second detector 3, a controller 4, a communication unit 5,and a third detector 6. An operating unit 218 and an assist mechanism215 are connected to this bicycle control apparatus 1. The firstdetector 2, the second detector 3, the communication unit 5, and thethird detector 6 are electrically connected to the controller 4.

The operating unit 218 is mounted to the handlebar 204 (see FIG. 22).The operating unit 218 is provided to the bicycle 201, as shown in FIG.22. The operating unit 218 shown in FIG. 23 is electrically connected bywire or is wirelessly connected to the controller 4 of the bicyclecontrol apparatus 1. With the operation of this operating section 218,an assist condition is selected by the assist mechanism 215. Theoperating unit 218 comprises, for example, an operating switch. Forinstance, by operating the operating unit 218, one assist condition canbe selected from among a first assist condition, a second assistcondition, and a third assist condition. Changing the size of therunning assist force PX with respect to manual drive force is possibleby changing a plurality of assist conditions. Meanwhile, the details ofeach assist condition will be described later.

The assist mechanism 215 comprises an assist motor 216 and a drivecircuit 217. The assist motor 216 is controlled by a drive circuit 217.Additionally, the drive circuit 217 controls the assist motor 216 basedon a command from the controller 4. The assist motor 216 is coupled to apower transmission path comprising a crankshaft 212A that is providedbetween the crank arms 212B and the front sprocket 234, as shown in FIG.22. The assist mechanism 215 can be configured to comprise a reductiongear, which is not shown, and to transmit the output of the assist motor216 to the power transmission path via the reduction gear. As shown inFIG. 23, the drive unit 219 is configured to comprise the controller 4of the bicycle control apparatus 1 and the assist mechanism 215. Thedrive unit 219 is detachably provided to the frame 202 (see FIG. 22).

The first detector 2 shown in FIG. 23 detects a manual drive force.Specifically, the first detector 2 outputs a signal corresponding to themanual drive force. For example, the first detector 2 is a torquesensor, which outputs a signal (for example, voltage) corresponding tothe torque acting on a power transmission path comprising a crankshaft212A of a crank 212, as shown in FIG. 22, or a crankshaft 212A that isprovided between a crank arm 212B and the front sprocket 234. Forexample, the torque sensor can be a magnetostrictive sensor or a straingauge. The first detector 2 shown in FIG. 23 sends information regardingthe detected manual drive force to the controller 4.

The second detector 3 detects the rotational state of the crank 212. Therotational state of the crank 212 includes the rotational angle TA ofthe crank 212. Here, the rotational angle TA of the crank 212 refers tothe rotational angle at which the reference is the position of the crank112 at a point in time when the assist motor 216 has started running theassist (see FIG. 23). The rotational angle TA can be rephrased as thetotal amount of rotation of the crank 212 from the point in time thatrunning assist has started. The second detector 3 can detect therotational angle of the crankshaft 212A or the rotational angle of thecrank arm 212B as the rotational angle TA of the crank 212. The seconddetector 3 shown in FIG. 23 sends information regarding the detectedrotational angle TA to the controller 4.

Additionally, the rotational state of the crank 212 includes therotational speed KA of the crank 212. The second detector 3 shown inFIG. 23 functions as a cadence sensor and detects the cadence of thecrank 212 (see FIG. 22) as the rotational speed KA. The second detector3 can also detect the rotation period of the crank 212 (see FIG. 22) asthe rotational state. The second detector 3 sends information regardingthe detected cadence to the controller 4.

For example, the second detector 3 includes a rotary encoder and detectsthe rotational angle TA of the crankshaft 212A (see FIG. 22) bydetecting a change in the magnetic flux density of a multipolar magnetattached to the crankshaft 212A (see FIG. 22) by using a Hall element.The second detector 3 can detect the rotational speed KA of thecrankshaft 212A (see FIG. 23) based on the rotational angle TA of thecrankshaft 212A (see FIG. 22) and the time. The second detector 3 can beformed of a magnet that is provided to the crankshaft 212A (see FIG. 22)or the crank arm 212B (see FIG. 22). A reed switch is provided thatdetects this magnet, detects the rotational speed KA of the crankshaft212A (see FIG. 22). The second detector 3 can be an optical encoder,instead of a magnetic encoder, and can be made a rotational angle sensorother than a rotary encoder.

The third detector 6 detects a traveling speed of the bicycle 201. Thethird detector 6, for example, includes a reed switch that detects amagnet that is provided to the rear wheel 207 (see FIG. 22). Thecontroller 4 calculates the traveling speed ZA of the bicycle 201 basedon the detected value of the third detector 6 and the tire diameter.

The controller 4 causes the assist motor 216 to execute the running ofthe assist when a prescribed condition has been met. For example, thecontroller 4 causes the assist motor 216 to execute the running of theassist when a determination is made that the manual drive force (thetorque) that is detected by the first detector 2 is equal to or greaterthan a manual drive force reference value, which is set in advance. Thecontroller 4 reduces or stops the output of the assist motor 216 whenthe traveling speed ZA detected by the third detector 6 becomes equal toor greater than a prescribed speed. The prescribed speed corresponds to,for example, 25 km per hour.

The controller 4 controls the running assist force PX to be output bythe assist motor 216 according to the manual drive force detected by thefirst detector 2, the rotational angle TA, which is the detection resultdetected by the second detector 3, and the traveling speed ZA, which isthe detection result detected by the third detector 6. Specifically, thecontroller 4 causes the assist motor 216 to output a running assistforce PX that is less than or equal to a base running assist force thatis set according to the manual drive force. The controller 4 comprises,for example, a microcomputer and comprises a CPU (Central processingunit), RAM (random access memory), ROM (read only memory), I/Ointerface, and the like. Thus, the controller 4 includes at least oneprocessor and at least one memory device with the control programsstored therein.

Next, the base running assist force PA, which is set according to themanual drive force, will be explained.

For example, if the first assisting condition is selected by theoperating unit 218, the controller 4 sets a running assist force PX thatis X times the manual drive force as the base running assist force PA.In the first assisting condition, the controller 4 controls the assistmechanism 215 so that a torque that is X times the torque that acts onthe power transmission path from the manual drive force is supplied fromthe assist mechanism 215 to the power transmission path.

For example, if the second assisting condition is selected by theoperating unit 218, the controller 4 sets a running assist force PX thatis Y times the manual drive force as the base running assist force PA.In the second assisting condition, the controller 4 controls the assistmechanism 215 so that a torque that is Y times the torque that acts onthe power transmission path from the manual drive force is supplied fromthe assist mechanism 215 to the power transmission path.

For example, if the third assisting condition is selected by theoperating unit 218, the controller 4 sets a running assist force PX thatis Z times the manual drive force as the base running assist force PA.In the third assisting condition, the controller 4 controls the assistmechanism 215 so that a torque that is Z times the torque that acts onthe power transmission path from the manual drive force is supplied fromthe assist mechanism 215 to the power transmission path. Numbers for X,Y, and Z are selected so that X>Y>Z. For example, X=2, Y=1.5, and Z=1are selected. Meanwhile, an OFF mode where assisting is not done by theassist mechanism 215 can also be selected by the control section 218.

Next, a method in which the controller 4 is programmed to set therunning assist force PX that is less than or equal to the base runningassist force PA described above will be explained. When the bicyclecrank 212 is rotated from a stopped state, the controller 4 corrects thebase running assist force PA described above, according to a rotationalangle TA detected by the second detector 3. This corrected base runningassist force PA is the running assist force PX that the assist motor 216is made to output. The controller 4 controls the drive circuit 217 andcauses the assist motor 216 to output this running assist force PX.

When the crank 212 is rotated from a stopped state, the controller 4corrects the base running assist force PA so that the running assistforce PX becomes closer to the base running assist force PA as therotational angle TA increases. More specifically, when the crank 212 isrotated from a stopped state, the controller 4 corrects the base runningassist force PA based on correction information corresponding to therotational angle TA. This correction information is represented by acorrection coefficient that increases as the rotational angle TAincreases. The controller 4 calculates the running assist force PX bymultiplying this correction coefficient by the base running assistforce.

For example, the controller 4 stores a correction information map, suchas that shown in FIG. 24, and sets the correction coefficient based onthis correction information map. Meanwhile, the correction informationmap includes information that correlates the rotational angle TA and thecorrection coefficient, and the correction coefficient increases as therotational angle TA increases. While not particularly limited, thecorrection coefficient is equal to or greater than 0 and less than orequal to 1.

The controller 4 sets the correction coefficient to 1 when therotational angle TA that is detected by the second detector 3 becomesequal to or greater than a prescribed threshold value TAX. Thecontroller 4 carries out an operation to correct the running assistforce PX when the manual drive force is reduced, as described below(hereinafter referred to as the second correction operation), aftercarrying out an operation to correct the running assist force PX basedon the rotational angle TA of the crank 212 (hereinafter referred to asthe first correction operation). For example, the threshold value TAX ispreferably equal to or greater than 0 degrees and less than or equal to1000 degrees; more preferably, this is equal to or greater than 20degrees and less than or equal to 800 degrees. The controller 4 can alsocalculate a correction coefficient corresponding to the rotational angleTA with a formula set in advance, instead of using such a correctioninformation map. As the value of the threshold value TAX decreases, theresponse speed of the assist motor 216 when starting to pedal thebicycle 201 from a state in which the crank 212 is stopped increases.That is, the time needed for the output of the assist motor 216 to reachthe base running assist force PA becomes shorter. If the threshold valueTAX is decreased, the output of the assist motor 216 with respect to themanual drive force is increased early. As a result, improving tractioncontrollability becomes possible; if the threshold value TAX isincreased, the time needed to increase the output of the assist motor216 with respect to the manual drive force increases, making thesuppression of a sudden start when starting to pedal possible.

The correction information map can have the rotational angle TA and thecorrection coefficient can be in a linear function-like relationship asshown by the line L1 in FIG. 24, or they can be an n^(th)-degreepolynomial function curve, as shown by lines L2 and L3 in FIG. 24. Thecorrection information map can be configured so that the correctioncoefficient is a prescribed numerical value instead of 0 when therotational angle TA is 0 degrees, as shown by line LA in FIG. 24. In thecorrection information map, the correction coefficient can changecontinuously according to the rotational angle TA, as shown by linesL1-L4 in FIG. 24, or the correction coefficient can changediscontinuously in a stepwise manner according to the rotational angleTA, as shown by line L5 in FIG. 24. This kind of correction map isdetermined by experiment. The controller 4 is configured to comprise aplurality of correction information maps so that the operating unit 218is able to set a plurality of correction information maps. Thecontroller 4 can calculate the running assist force PX by a formula thatis set in advance, rather than a correction control map.

The controller 4 controls the running assist force PX so that, when themanual drive force is reduced, the decrease in the running assist forcePX is delayed with respect to this reduction in the manual drive forceas the second correction operation. Specifically, the controllerbasically causes the assist motor 216 to output a base running assistforce PA that is set according to the manual drive force as the runningassist force PX when the first correction operation and the secondcorrection operation are not being conducted. Then, the controller 4corrects the base running assist force PS when the manual drive force isreduced and causes the assist motor 216 to output the corrected baserunning assist force PA as the running assist force PX. This correctedbase running assist force PA becomes equal to or greater than the baserunning assist force PA before correction. The controller delays thedecrease in the running assist force PX with respect to the reduction inthe manual drive force by this correction operation. Here, the baserunning assist force PA, which is set according to the manual driveforce, and the temporal changes in the base running assist force PA aredescribed.

FIG. 25 is a graph showing the temporal change in the base runningassist force PA. The manual drive force becomes minimal when the pedal211 is positioned at the top dead center or the bottom dead center, whenthe pedal 211 is positioned rotated 90 degrees from the top dead centeror the bottom dead center, the manual drive force becomes the maximum.Since the base running assist force PA is set to a prescribed multipleof the manual drive force, the temporal change in the base runningassist force PA will have a waveform such as shown in FIG. 25. When thecontroller 4 does not conduct a first correction operation and a secondcorrection operation, the assist motor 216 will output the base runningassist force PA.

The controller 4 causes the assist motor 216 to output theabove-described base running assist force PA as the running assist forcePX while correcting the base running assist force PA when the manualdrive force is reduced; the controller causes the assist motor 216 tooutput the corrected base running assist force PA as the running assistforce PX.

Specifically, the controller 4 converts the signal that is output by thefirst detector 2 into a discrete signal. That is, the controller 4obtains information regarding the manual drive force that is detected bythe first detector 2 at prescribed time intervals. Then, when adetermination is made that the manual drive force that is detected bythe first detector 2 is less than the manual drive force that wasdetected at a single moment prior, based on the discrete signal, thecontroller 4 determines that the manual drive force has been reduced.

FIG. 26 is a graph showing the temporal change in the running assistforce PX. The waveform shown by the solid line in FIG. 26 indicates thetemporal change in the running assist force PX, and the waveform shownby the dashed line indicates the temporal change in the base runningassist force PA. As shown in FIG. 26, the controller 4 determines thatthe manual drive force has been reduced at a time t2 after the time t1.Time t1 is a time at which the base running assist force PA displays themaximum value.

When a determination is made that the manual drive force has beenreduced, the controller 4 delays the decrease in the running assistforce with respect to the reduction in the manual drive force.Specifically, the controller 4 uses a primary low-pass filter to correctthe base running assist force PA and obtains the running assist forcePX. The reduction of the running assist force PX is delayed with respectto the decrease in the manual drive force, with the controller 4correcting the base running assist force PA using a primary low-passfilter in this way.

Additionally, after starting the operation to correct the base runningassist force PA, the controller 4 continues the operation to correct thebase running assist force PA as long as the corrected running assistforce PX is greater than the base running assist force PA beforecorrection. That is, the controller 4 continues the operation to correctthe base running assist force PA between time t2 and time t3 in FIG. 26.The controller 4 then stops the second correction operation when thebase running assist force PA before correction becomes equal to orgreater than the corrected running assist force PX at time t3.

The controller 4 also controls the delay in the reduction of the runningassist force PX described above according to the rotational state of thecrank 212. In particular, regarding the time constant of the primarylow-pass filter that is used for the correction operation describedabove, the controller 4 sets a time constant corresponding to therotational state of the crank 212. The response speed of the assistmotor 216 when the manual drive force is decreased increases as the timeconstant decreases, and the response speed of the assist motor 216 whenthe manual drive force is decreased also decreases as the time constantincreases.

Specifically, in a first control state described below, the controller 4sets the time constant to be greater as the rotational speed KA of thecrank 212 increases or the rotation period of the crank 212 decreases.As a result, the delay in the reduction of the running assist force PXdecreases as the rotational speed KA decreases or as the rotation periodincreases, and the delay in the reduction of the above-described runningassist force PX increases as the rotational speed KA decreases or therotation period decreases. In the first control state, the duration ofthe assisting force decreases as the rotational speed KA decreases, andgenerating an assisting force that is synchronized with the manual driveforce becomes possible. The traction controllability during lowrotational speed KA traveling thereby improves.

Additionally, in a second control state described below, the controller4 sets the time constant to be smaller as the rotational speed KA of thecrank 212 increases or as the rotation period of the crank 212decreases. As a result, the delay in the reduction of the running assistforce PX decreases as the rotational speed KA increases or as therotation period decreases. In the second control state, the timeconstant decreases as the rotational speed KA increases, that is, as thetraveling speed becomes higher, so that the duration of the assistingforce, that is, the time needed to drive the assist motor 216,decreases, making the consumption of power more difficult. Consequently,increasing the cruising distance in a high-speed range becomes possible.Also, in the second control state, the time constant increases as therotational speed KA decreases, that is, as the traveling speed becomesslower, so that the duration of the assisting force increases, andsuppressing a reduction in the vehicle speed becomes possible.

For example, the controller 4 stores a time constant map such as thatshown in FIG. 27 and FIG. 28 and sets the time constant based on thistime constant map. The time constant map shown in FIG. 27 is used in thefirst control state. The time constant map shown in FIG. 27 includesinformation that correlates the time constant and the rotational speedKA, where the time constant decreases as the rotational speed KAincreases. Additionally, when the rotational speed KA is equal to orgreater than a prescribed value KAX, the time constant is correlated tobecome the minimum value. That is, the controller 4 does not conduct acorrection of the running assist force PX by the second correctionoperation when the rotational speed KA is equal to or greater than aprescribed value. Meanwhile, the value of one control cycle of thecontroller can be employed as the minimum time constant.

The time constant map shown in FIG. 28 is used in the second controlstate. The time constant map shown in FIG. 28 includes information thatcorrelates the time constant and the rotational speed KA, where the timeconstant increases as the rotational speed KA increases. Additionally,when the rotational speed KA is equal to or greater than a prescribedvalue KAY, the time constant is correlated to become a maximum constantvalue. The controller 4 can also calculate a time constant correspondingto the rotational speed KA by a formula set in advance instead of usingsuch a time constant map. The prescribed value KAY and the prescribedvalue KAX can match. The prescribed value KAY can also be different fromthe prescribed value KAX.

In the time constant map, the relationship between the time constant andthe rotational speed KA can be a linear function relationship, such asthat shown by the line L11 in FIG. 27, as well as the line L21 in FIG.28; or this can be an n^(th)-degree polynomial function relationship,such as that shown by the lines L12 and L13 in FIG. 27, as well as thelines L22 and L23 in FIG. 28. Additionally, as shown by the line L14 inFIG. 27, the time constant can become a numerical value greater than theminimum when the rotational speed KA is 0. As shown by the line L24 inFIG. 28, the time constant can become a numerical value greater than theminimum when the rotational speed KA is a prescribed value KAY. The timeconstant map can be configured so that the time constant willcontinuously change according to the change in the rotational speed KA,as shown by the lines L11-L14 in FIG. 27 and the lines L21-L24 in FIG.28, or this map be configured so that the time constant will changediscontinuously in a stepwise manner according to the change in therotational speed KA, as shown by L15 in FIG. 27 and as shown by L25 inFIG. 28. This kind of time constant map is determined byexperimentation. The controller 4 can comprise a plurality of timeconstant maps, and a plurality of time constant maps can be selected bythe operating unit 218 or an external device 7.

As shown in FIG. 23, in addition to the assisting condition, thecontroller 4 can also selectively set a first control state and a secondcontrol state that have output characteristics of the assist motor 216with respect to the manual drive force that are different from eachother. The first control state is, for example, an off-road mode. Thesecond control state is, for example, an on-road mode. The off-road modeis a mode suitable for traveling on a road surface with large temporalvariations in the traveling load, such as rocky roads and dirt roads.The on-road mode is a mode suitable for traveling on a road surface withsmall temporal variations in the traveling load, such as paved roads.The temporal variation in the traveling load is the temporal change inthe tangential force between the wheel and the road surface. The maximumvalues of the output of the assist motor 216 with respect to the manualdrive force are the same for the first control state and the secondcontrol state.

The first control state and the second control state can be selectivelyset by the operating unit 218. The operating unit 218 comprises a firstoperating switch that corresponds to the first control state and asecond operating switch that corresponds to the second control state.The controller 4 enters the first control state by operating the firstoperating switch, and the controller 4 enters the second control stateby operating the second operating switch. The operating unit 218 can beconfigured to comprise one operating switch that is operated toalternately switch between the first control state and the secondcontrol state.

The communication unit 5 can also be provided to the bicycle controlapparatus 1. In this case, the first control state and the secondcontrol state can be set via the communication unit 5. The communicationunit 5 is configured to communicate with an external device 7. Theexternal device 7 is, for example, a personal computer, a smartphone,etc. The communication unit 5 comprises a wired or a wireless interfaceand performs wired or wireless communication with the external device 7.When achieving a wired connection between the communication unit 5 andan external device, a connection port can be provided to a housing ofthe drive unit 219 or to the operating unit 218.

The controller 4 controls the output (the running assist force PX) ofthe assist motor 216 so that the response speed of the assist motor 216with respect to changes in the manual drive force in the first controlstate will be faster than the response speed of the assist motor 216with respect to changes in the manual drive force in the second controlstate when the bicycle crank 212 is rotated from a stopped state and/orwhen the rotational speed KA of the crank 212 is less than or equal to aprescribed first speed. The controller 4 differentiates the runningassist force PX that the assist motor 216 outputs in the first controlstate and the running assist force PX that the assist motor 216 outputsin the second control state when the bicycle crank 212 rotates from astopped state and/or when the rotational speed KA of the crank 212 isless than or equal to a prescribed first speed. In other words, thecontroller 4 differentiates that the output state of the assist motor216 is the first control state and that the output state of the assistmotor 216 is the second control state when the bicycle crank 212 rotatesfrom a stopped state and/or when the rotational speed KA of the crank212 is less than or equal to a prescribed first speed. Meanwhile,differentiating the output state means that cases are included in whichthe running assist force PX that is output when detecting the samemanual drive force becomes a different size, depending on whether theoutput state is the first control state or the second control state;this can also include cases in which the same running assist force PX isoutput with respect to a part of the manual drive force.

In particular, the controller 4 controls the output of the assist motor216 according to the first control state and the second control state,as described in the following (a) to (c).

(a) When the bicycle crank 212 is rotated from a stopped state, thecontroller 4 controls the output of the assist motor so that theresponse speed of the assist motor 216 when the manual drive force inthe first control state increases will be faster than the response speedof the assist motor 216 when the manual drive force in the secondcontrol state increases.

(b) When the rotational speed KA of the crank 212 is less than or equalto a prescribed first speed, the controller 4 controls the output of theassist motor so that the response speed of the assist motor 216 when themanual drive force in the first control state decreases will be lessthan or equal to the response speed of the assist motor 216 when themanual drive force in the second control state decreases.

(c) When the rotational speed KA of the crank 212 exceeds a prescribedsecond speed, which is equal to or greater than the prescribed firstspeed, the controller 4 controls the output of the assist motor so thatthe response speed of the assist motor 216 when the manual drive forcein the first control state decreases will be slower than the responsespeed of the assist motor 216 when the manual drive force in the secondcontrol state decreases.

In order to control the output of the assist motor 216 as described in(a) above, the controller 4 switches the correction information map orthe formula that is used for the first correction operation between whenin the first control state and the second control state. The controller4 uses, for example, a correction information map such as that shown inFIG. 29 in the first correction operation. The dotted line L311 in FIG.29 shows a correction information map that is used in the firstcorrection operation when in the first control state. The solid lineL321 in FIG. 29 shows a correction information map that is used in thefirst correction operation when in the second control state. In thefirst control state, the correction coefficient is set to be 1 when therotational angle TA reaches a first rotational angle TAX1, which is thethreshold value TAX. The first rotational angle TAX1 is, for example, 30degrees. In the second control state, the correction coefficient is setto be 1 when the rotational angle TA reaches a second rotational angleTAX2, which is the threshold value TAX. The second rotational angle TAX2is, for example, 60 degrees or 720 degrees. The first rotational angleTAX1 is smaller than the second rotational angle TAX2.

The controller 4 can switch the correction information map or theformula that is used in the first correction operation according to thetraveling speed ZA of the bicycle 201. In this case, the controller 4controls the output of the assist motor 216 so that the response speedof the assist motor 216 when the manual drive force increases will befaster when the traveling speed ZA is equal to or greater than aprescribed speed, as compared to when the traveling speed ZA is lessthan or equal to the prescribed speed.

For example, in the first correction operation in the first controlstate, when the traveling speed ZA is less than or equal to a prescribedspeed ZX, the controller 4 uses a correction information map such asthat shown by the dotted line L311 in FIG. 29; when the traveling speedZA is less than or equal to the prescribed speed ZX, the controller 4uses a correction information map such as that shown by the dotted lineL312 in FIG. 29. In the correction information map of FIG. 29, if thetraveling speed ZA is less than or equal to the prescribed speed ZX, thecorrection coefficient is set to be 1 when the crank 212 is rotated, forexample, 30 degrees, from a stopped state. With the correctioninformation map shown by the dotted line L311 and the correctioninformation map shown by the dotted line L312, the first rotationalangle TAX1 at which the correction coefficient becomes 1 will be thesame. However, with respect to the rotational angle TA until thecorrection coefficient becomes 1, the correction coefficient will belarger in the correction information map shown by the dotted line L312than in the correction information map shown by the dotted line L311.

For example, in the first correction operation in the second controlstate, when the traveling speed ZA is less than or equal to a prescribedspeed ZX, the controller 4 uses a correction information map such asthat shown by the solid line L321 in FIG. 29; when the traveling speedZA is less than or equal to the prescribed speed ZX, the controller 4uses a correction information map such as that shown by the solid lineL322 in FIG. 29. In the correction information map of FIG. 29, if thetraveling speed ZA is less than or equal to the prescribed speed ZX, thecorrection coefficient is set to be 1 when the crank 212 is rotated, forexample, 60 degrees, from a stopped state.

For example, 3 km per hour is selected as the prescribed speed ZX. Whenthe crank 212 is rotated from a stopped state when the traveling speedZA is less than or equal to the prescribed speed ZX, the state isassumed to be one in which the bicycle 201 has started to move from astopped state or a substantially stopped state. When the crank 212 isrotated from a stopped state when the bicycle 201 exceeds a prescribedspeed ZX, the assumption can be that the bicycle 201 is in a coastingstate. Starting the output of the assist motor 216 according to therunning state of the bicycle 201 is possible with the controller 4changing the correction information map.

When the bicycle crank 212 is rotated from a stopped state, if the crankis rotated at the same speed by applying the same manual drive force tothe crank, the output of the assist motor 216 will be faster and greaterwhen in the first control state, as compared to when in the secondcontrol state. That is, the response speed of the assist motorincreases.

In order to control the output of the assist motor 216 as described in(b) and (c) above, the controller 4 switches the correction informationmap or the formula that is used for the second correction operationbetween when in the first control state and the second control state.The controller 4 uses, for example, a correction information map such asthat shown in FIG. 30 in the second correction operation. The dottedline L41 in FIG. 30 shows a correction information map that is used inthe second correction operation when in the first control state. Thesolid line L42 in FIG. 30 shows a correction information map that isused in the second correction operation when in the second controlstate. In the example shown in FIG. 30, regardless of when in the firstcontrol state or the second control state, if the time constant becomesthe same within a prescribed rotational speed KA range (KAA-KAB). Theprescribed rotational speed KA range is, for example, 50 rpm-60 rpm. Inthe example shown in FIG. 30, the rotational speed KAA is a prescribedfirst speed, and the rotational speed KAB is a prescribed second speed.

Next, the operation of the bicycle control apparatus 1 described abovewill be explained, with reference to FIG. 31. FIG. 31 is a flow chartthat illustrates a control operation executed by the bicycle controlapparatus 1.

When power is supplied to the bicycle control apparatus 1, the operationproceeds to step S1 in FIG. 31, and the controller 4 obtains informationregarding the manual drive force that is detected by the first detector2. Specifically, the controller 4 obtains information regarding thetorque that is detected by the first detector 2.

Next, the operation proceeds to step S2, and the controller 4 determineswhether or not the manual drive force is equal to or greater than themanual drive force reference value. Specifically, the controller 4determines whether or not the torque is equal to or greater than atorque reference value, based on the obtained information regarding thetorque. Meanwhile, while not particularly limited, this torque referencevalue can be made to be, for example, equal to or greater than 7 N·m andless than or equal to about 10 N·m. The controller 4 proceeds to theoperation of step S1 when a determination is made that the manual driveforce is less than the manual drive force reference value.

If a determination is made in step S2 that the manual drive force isequal to or greater than the manual drive force reference value, thecontroller 4 proceeds to step S3. In step S3, the controller 4 sets thebase running assist force PA. Specifically, the controller 4 sets a baserunning assist force PA corresponding to the manual drive force.

Next, the first correction operation is performed in step S4. Thecontroller 4 corrects the base running assist force PA according to theangle (the rotational angle TA) of the crank 212 from the stopped state,using a correction coefficient that corresponds to the control statethat is set or that is selected. The controller 4 does not correct thebase running assist force PA when the angle of the crank 212 from thestopped state becomes equal to or greater than a threshold value TAX.

Next, the operation proceeds to step S5, and the controller 4 determineswhether or not the manual drive force is decreasing. If a determinationis made in step S5 that the manual drive force is decreasing, thecontroller 4 proceeds to step S6.

In step S6, the controller 4 performs the second correction operation.The controller 4 corrects the base running assist force PA (the runningassist force PX) that was corrected in step S4 or the base runningassist force PA that has not been corrected using a time constant thatcorresponds to the control state that is set or that is selected andthen proceeds to step S7. If a determination is made in step S5 that themanual drive force is not decreasing, the controller 4 proceeds to stepS7.

In step S7, the controller 4 controls the assist motor 216 based on thebase running assist force PA (the running assist force PX) that wascorrected in step S4 and step S6, the base running assist force PA (therunning assist force PX) that was corrected in step S4, or the baserunning assist force PA that has not been corrected. When step S7 hasbeen completed, the operation returns to step S1 and continues toexecute the operation of the flowchart until the supply of power to thecontroller 4 is interrupted.

The bicycle control apparatus 1 performs the following actions andobtains the following effects.

(1) The demand on the assist motor 216 differs depending on thetraveling conditions of the bicycle 201, for example, between when thebicycle 201 is traveling on-road and when traveling off-road. For thisreason, a control of the assist motor 216 that corresponds to thetraveling conditions of the bicycle 201 is required.

The controller 4 is able to control the assist motor 216 by selectivelysetting the first control state and the second control state. As aresult, controlling the assist motor 216 corresponding to the travelingconditions of the bicycle 201 is possible.

(2) When the rotational speed KA is less than or equal to a prescribedfirst speed, the controller 4 controls the output of the assist motor216 so that the response speed of the assist motor 216 with respect tochanges in the manual drive force in the first control state will befaster than the response speed of the assist motor 216 with respect tochanges in the manual drive force in the second control state.

Accordingly, in the first control state, driving the assist motor 216with respect to the manual drive force, good tracking is possible. Forthis reason, for example, when trying to climb over an obstacle whiletraveling off-road, if the manual drive force is increased, the outputof the assist motor 216 is immediately increased; when the manual driveforce is decreased, the output of the assist motor is immediatelydecreased. Accordingly, the traction controllability is improved.Additionally, when the manual drive force is decreased, the output ofthe assist motor 216 and the output time can be reduced, so that thepower consumption can be reduced. On the other hand, in the secondcontrol state, the variation of the torque by the assist motor 216 isreduced. For this reason, the discomfort that is caused by a fluctuationin the assisting force when traveling on a flat paved road is likely tobe imparted on the rider.

(3) When the crank 212 is rotated from the stopped state, that is, whenin an area in which the rotational angle TA is small, the controller 4controls the output of the assist motor 216 so that the response speedof the assist motor 216 with respect to the changes in the manual driveforce in the first control state will be faster than the response speedof the assist motor 216 with respect to the changes in the manual driveforce in the second control state. That is, the period during which thebase running assist force PA is corrected to a running assist force PXthat is less than the base running assist force PA will be shorter whenin the first control state as compared to when in the second controlstate.

Accordingly, in the first control state, the running assist force PXwith respect to the manual drive force increases quickly to the baserunning assist force PA, so that, for example, the tractioncontrollability improves when the bicycle 201 is traveling off-road. Onthe other hand, in the second control state, the running assist force PXwith respect to the manual drive force slowly increases to the baserunning assist force, as compared to the first control state; as aresult, there are cases in which discomfort that is imparted on therider from, for example, the traveling speed ZA increasing rapidly atthe time of starting to run the bicycle 201 is reduced.

(4) For example, a large amount of power (energy) is required whentraveling off-road while maintaining the speed to a certain degree.There is a risk that simply increasing the upper limit torque set valuein order to obtain a large amount of power will lead to an increase inthe size and weight of the motor unit and the mechanism portion of thedrive unit 216. Additionally, increasing the assist ratio, which is theratio of the output of the assist motor with respect to the manual driveforce, will consume more power. When the rotational speed KA exceeds aprescribed second speed, the controller 4 controls the output of theassist motor so that the response speed of the assist motor when themanual drive force in the first control state decreases will be slowerthan the response speed of the assist motor when the manual drive forcein the second control state decreases. The reduction in the assistingforce is thereby suppressed even if the manual drive force is reduced;as a result, increasing the power without changing the size and theweight of the drive unit 219 becomes possible, and effectively utilizingthe electric power becomes possible.

Modified Example of Fifth Embodiment

The specific forms that the bicycle control apparatus can take are notlimited to the forms illustrated in the fifth embodiment. The bicyclecontrol apparatus can take various forms that are different from thefifth embodiment. The modified example of the fifth embodiment shownbelow is one example of the various forms that the bicycle controlapparatus, etc. can take.

-   -   The controller 4 performs the second correction operation after        the first correction operation, but the controller 4 can perform        the first correction operation after performing the second        correction operation.    -   In the fifth embodiment, the controller 4 can correct the manual        drive force that is detected by the first detector 2 instead of        correcting the base running assist force PA. That is, instead of        directly correcting the base running assist force PA, the        controller 4 can indirectly correct the base running assist        force PA by correcting the manual drive force that is detected        by the second detector 3.    -   The first detector 2 detects the torque that acts on the        crankshaft 212A as the manual drive force but is not limited        thereto. For example, the first detector 2 can detect the        tensile force that acts on the chain 210 as the manual drive        force or the force that acts on the axle of the rear wheel 207        or the drive force that acts on the frame 202 by manual force.    -   A configuration is used in which a supplemental drive force acts        on the power transmission path by the assist mechanism 215, but        the present invention is not limited thereto. For example, the        configuration can be such that supplemental drive force acts on        the chain 210 by the assist mechanism 215. Additionally, for        example, the present bicycle control apparatus can also be        applied to an electrically assisted bicycle comprising a front        hub motor, that is, an electrically assisted bicycle in which        the front wheel 206 comprises an assist mechanism. Besides the        above, the present bicycle control apparatus can also be applied        to an electrically assisted bicycle comprising a rear hub motor,        that is, an electrically assisted bicycle in which the rear        wheel 207 comprises an assist mechanism.    -   The controller 4 can perform the first correction operation        using the travel distance or the travel time from when the crank        212 of the bicycle 201 starts to rotate, instead of the        rotational speed KA.    -   In the map shown in FIG. 30, when the rotational speed KA is        greater than the rotational speed KAB, maintaining the line L42        at a time constant of a constant value, for example, the time        constant at the time of rotational speed KAB, is possible. In        this case, in the second control state, variation of the torque        is suppressed even in a high-speed range. Consequently, the        discomfort that is caused by a fluctuation in the torque is less        likely to be imparted on the rider, even in a high-speed range.        Additionally, maintaining a constant traveling speed ZA even in        a high-speed range becomes easier.    -   The controller 4 executes all of the controls of (a), (b), and        (c), but the configuration can be such that the controller 4        executes at least one control from among (a), (b), and (c).        Additionally, the configuration can be such that the operating        unit 218 and/or the external device 7 selects controls from (a),        (b), and (c) to be executed by the controller 4.    -   The response speed of the assist motor 216 can be made to be        adjustable by the operating unit 218 or the external device 7.        In this case, the correction coefficient and the time constant        can be selected or set by the operating unit 218 or the external        device 7. As a result, controlling the assist motor 216        according to the preference of the rider becomes possible.    -   The controller 4 is set to be able to change the assisting        condition via an operation of the operating unit 218, but the        assisting condition can be made to be unchangeable. In this        case, setting a running assist force PX that is a preset        multiple of the manual drive force as the base running assist        force PA is possible.    -   The controller 4 sets a correction coefficient according to the        rotational angle TA of the crank 212 when the crank 212 is        rotated from a stopped position. However, the controller 4 can        delay the increase in the running assist force PX with respect        to an increase in the manual drive force regardless of the        rotation of the crank 212 when the crank 212 is rotated from a        stopped state. In this case, the controller 4 corrects the base        running assist force PA using a primary low-pass filter.        Changing the response speed of the assist motor 216 with respect        to changes in the manual drive force is possible by delaying the        increase in the running assist force PX with respect to the        increase in the manual drive force.    -   The controller 4 can be configured (i.e., programmed) to not        correct the base running assist force PA when the crank 212 is        rotated from the stopped position in the first control state.        Additionally, the controller 4 can be configured (i.e.,        programmed) to not correct the base running assist force PA when        less than or equal to the first traveling speed in the first        control state. In this case, the assist motor 216 can respond        more directly to the manual drive force.

Below, additional matters based on the matters described in the fifthembodiment and the modified example thereof will be described.

In accordance with a first example, a bicycle control apparatuscomprising a controller for controlling an output of an assist motoraccording to a manual drive force, wherein the controller is able toselectively set a first control state and a second control state, inwhich the output states of the assist motor with respect to the manualdrive force are different from each other; the controller controls theoutput of the assist motor so that a response speed of the assist motorwith respect to changes in the manual drive force in the first controlstate will be faster than the response speed of the assist motor withrespect to changes in the manual drive force in the second control statewhen a crank of a bicycle rotates from a stopped state and/or when arotational speed of the crank is less than or equal to a prescribedfirst speed.

In accordance with a second example, the bicycle control apparatus asrecited in first example, wherein the controller controls the output ofthe assist motor so that the response speed of the assist motor when themanual drive force increases in the first control state will be fasterthan the response speed of the assist motor when the manual drive forceincreases in the second control state when the bicycle crank rotatesfrom a stopped state.

In accordance with a third example, the bicycle control apparatus asrecited in the first example or the second example, wherein thecontroller controls the output of the assist motor so that the responsespeed of the assist motor when the manual drive force decreases in thefirst control state will be faster than the response speed of the assistmotor when the manual drive force decreases in the second control statewhen the rotational speed of the crank is less than or equal to aprescribed first speed.

In accordance with a fourth example, the bicycle control apparatus asrecited in the first example or the second example, wherein thecontroller controls the output of the assist motor so that the responsespeed of the assist motor when the manual drive force decreases in thefirst control state will be slower than the response speed of the assistmotor when the manual drive force decreases in the second control statewhen the rotational speed of the crank exceeds a prescribed secondspeed, which is equal to or greater than a prescribed first speed.

In accordance with a fifth example, the bicycle control apparatus asrecited in any one of first to fourth examples, further comprising anoperating unit that can be attached to a bicycle, wherein the controllerselectively sets the first control state and the second control statewith the operating unit.

In accordance with a sixth example, the bicycle control apparatus asrecited in any one of the first to fifth examples, further comprising acommunication unit that is able to communicate with an external device,wherein the controller selectively sets the first control state and thesecond control state with the external device.

In accordance with a seventh example, the bicycle control apparatus asrecited in the sixth example, wherein the controller is able to adjustthe response speed with the operating unit.

In accordance with an eighth example, the bicycle control apparatus asrecited in the sixth example, wherein the controller is able to adjustthe response speed with an external device.

In accordance with a ninth example, a bicycle control apparatuscomprising a controller for controlling an output of an assist motoraccording to a manual drive force, wherein the controller is able toselectively set a first control state and a second control state, inwhich the maximum values of the output of the assist motor with respectto the manual drive force are the same and in which the output states ofthe assist motor with respect to the manual drive force are differentfrom each other, the controller controls the output of the assist motorso that the output of the assist motor with respect to the manual driveforce in the first control state will be different from the output ofthe assist motor with respect to the manual drive force in the secondcontrol state when a crank of a bicycle rotates from a stopped stateand/or when the rotational speed of the crank is less than or equal to aprescribed first speed.

In accordance with a tenth example, the bicycle control apparatus asrecited in Appendix 9, wherein the controller reduces the output of theassist motor until a rotational angle of the crank reaches a firstprescribed value when the crank rotates from a stopped state in thefirst control state and reduces the output of the assist motor until therotational angle of the crank reaches a second prescribed value, whichis greater than the first prescribed value, when the crank rotates froma stopped state in the second control state.

In accordance with an eleventh example, a bicycle control apparatus forcontrolling a bicycle that has an assist motor, comprising a controllerfor controlling a running assist force that the assist motor outputsaccording to at least either the rotational angle of the crank, based ona position of the bicycle crank at a point in time in which the runningassist is initiated by the assist motor, a travel distance from thepoint in time in which the running assist is initiated, or a travel timefrom the point in time at which the running assist is initiated, whereinthe controller is able to selectively set a first control state and asecond control state in which the outputs of the assist motor withrespect to the manual drive force are different from each other; thecontroller differentiates the running assist force that the assist motoroutputs in the first control state and the running assist force that theassist motor outputs in the second control state.

In accordance with a twelfth example, a bicycle control apparatus forcontrolling a bicycle that has an assist motor, comprising a controllerfor controlling a running assist force that the assist motor outputsaccording to a manual drive force, wherein the controller controls therunning assist force so that a reduction in the running assist forcewith respect to a reduction in the manual drive force is delayed whenthe manual drive force is decreased and controls the delay in thereduction of the running assist force according to a rotational state ofa crank; the controller is able to selectively set a first control stateand a second control state in which the outputs of the assist motor withrespect to the manual drive force are different from each other, and thecontroller differentiates the delay in the reduction of the runningassist force in the first control state and the delay in the reductionof the running assist force in the second control state.

In understanding the scope of the present invention, the term“comprising” and its derivatives, as used herein, are intended to beopen ended terms that specify the presence of the stated features,elements, components, groups, integers, and/or steps, but do not excludethe presence of other unstated features, elements, components, groups,integers and/or steps. The foregoing also applies to words havingsimilar meanings such as the terms, “including”, “having” and theirderivatives. Also, the terms “part,” “section,” “portion,” “member” or“element” when used in the singular can have the dual meaning of asingle part or a plurality of parts unless otherwise stated.

Also it will be understood that although the terms “first” and “second”may be used herein to describe various components these componentsshould not be limited by these terms. These terms are only used todistinguish one component from another. Thus, for example, a firstcomponent discussed above could be termed a second component and viceversa without departing from the teachings of the present invention. Theterm “attached” or “attaching”, as used herein, encompassesconfigurations in which an element is directly secured to anotherelement by affixing the element directly to the other element;configurations in which the element is indirectly secured to the otherelement by affixing the element to the intermediate member(s) which inturn are affixed to the other element; and configurations in which oneelement is integral with another element, i.e. one element isessentially part of the other element. This definition also applies towords of similar meaning, for example, “joined”, “connected”, “coupled”,“mounted”, “bonded”, “fixed” and their derivatives. Finally, terms ofdegree such as “substantially”, “about” and “approximately” as usedherein mean an amount of deviation of the modified term such that theend result is not significantly changed.

While only selected embodiments have been chosen to illustrate thepresent invention, it will be apparent to those skilled in the art fromthis disclosure that various changes and modifications can be madeherein without departing from the scope of the invention as defined inthe appended claims. For example, unless specifically stated otherwise,the size, shape, location or orientation of the various components canbe changed as needed and/or desired so long as the changes do notsubstantially affect their intended function. Unless specifically statedotherwise, components that are shown directly connected or contactingeach other can have intermediate structures disposed between them solong as the changes do not substantially affect their intended function.The functions of one element can be performed by two, and vice versaunless specifically stated otherwise. The structures and functions ofone embodiment can be adopted in another embodiment. It is not necessaryfor all advantages to be present in a particular embodiment at the sametime. Every feature which is unique from the prior art, alone or incombination with other features, also should be considered a separatedescription of further inventions by the applicant, including thestructural and/or functional concepts embodied by such feature(s). Thus,the foregoing descriptions of the embodiments according to the presentinvention are provided for illustration only, and not for the purpose oflimiting the invention as defined by the appended claims and theirequivalents.

What is claimed is:
 1. A bicycle detection device comprising: a singlesensor configured to output a first detection signal of a first state inresponse to a movement of a first operating member, and the sensor beingconfigured to output a second detection signal of a second state, whichis different from the first state, in response to a movement of a secondoperating member.
 2. The bicycle detection device as recited in claim 1,wherein the sensor is configured to output the first detection signal ofthe first state according to a positional relationship with a firstdetector of the first operating member, and the sensor is configured tooutput the second detection signal of the second state according to apositional relationship with a second detector of the second operatingmember.
 3. The bicycle detection device as recited in claim 2, whereinthe sensor is configured to output the first detection signal of thefirst state at a first level that changes continuously or in a stepwisemanner as a first distance between the sensor and the first detectorchanges, and the sensor is configured to output the second detectionsignal of the second state at a second level that changes continuouslyor in a stepwise manner as a second distance between the sensor and thesecond detector changes.
 4. The bicycle detection device as recited inclaim 2, wherein the sensor is configured to output the first detectionsignal upon a first distance between the sensor and the first detectorbeing less than a first prescribed distance, the sensor is configurednot to output the first detection signal upon the first distance beingequal to or greater than the first prescribed distance, the sensor isconfigured to output the second detection signal upon a second distancebetween the sensor and the second detector being less than a secondprescribed distance, and the sensor is configured not to output thesecond detection signal upon the second distance being equal to orgreater than the second prescribed distance.
 5. The bicycle detectiondevice as recited in claim 2, further comprising the first detectorprovided to the first operating member, and the second detector providedto the second operating member.
 6. The bicycle detection device asrecited in claim 1, wherein the first operating member is movablyprovided between a first detector and the sensor, and the secondoperating member is movably provided between a second detector and thesensor.
 7. The bicycle detection device as recited in claim 2, whereinthe first detector includes a first magnet and the second detectorincludes a second magnet, and the sensor includes a Hall element.
 8. Thebicycle detection device as recited in claim 7, wherein each of thefirst and second magnets has a magnetic pole that is arranged closest tothe sensor, while the first operating member and the second operatingmember are disposed in a non-operated state, the magnetic poles arrangedclosest to the sensor have opposite magnetisms.
 9. The bicycle detectiondevice as recited in claim 2, wherein the first detector and the seconddetector are different colors from each other, and the sensor includes alight receiving element.
 10. The bicycle detection device as recited inclaim 9, wherein the first detector and the second detector areconfigured to emit different color lights.
 11. The bicycle detectiondevice as recited in claim 2, wherein the first detector includes aplurality of first color portions that are different colors from eachother, the first color portions are arranged in a direction in which thefirst operating member is moved, the second detector includes aplurality of second color portions that are different colors from eachother, and the second color portions are arranged in a direction inwhich the second operating member is moved.
 12. The bicycle detectiondevice as recited in claim 9, further comprising a guide portion withinwhich a window is formed for guiding light to the sensor.
 13. Anoperating device for a bicycle component, the operating devicecomprising the bicycle detection device as recited in claim 1, andfurther comprising the first operating member and the second operatingmember.
 14. The operating device as recited in claim 13, wherein thefirst operating member and the second operating member being configuredto operate the bicycle component.
 15. The operating device as recited inclaim 14, wherein the operating device includes a winding body movablymounted and configured to be connected to a cable, which is also coupledto the bicycle component, the first operating member is operativelycoupled to the winding body and rotates the winding body in a firstdirection in response to operation of the first operating member, andthe second operating member is operatively coupled to the winding bodyand rotates the winding body in a second direction in response tooperation of the second operating member, the second direction isopposite to the first direction.
 16. The operating device as recited inclaim 14, wherein the bicycle component is one of a transmission, asuspension and a seatpost.
 17. A bicycle control system comprising theoperating device as recited in claim 13, and further comprising acontrol apparatus configured to control a bicycle electric componentaccording to the first detection signal of the first state and thesecond detection signal of the second state.
 18. The bicycle controlsystem as recited in claim 17, wherein the control apparatus isconfigured to control a motor for driving a bicycle according to amanual drive force, the first detection signal of the first state, andthe second detection signal of the second state.
 19. The bicycle controlsystem as recited in claim 18, wherein the control apparatus isconfigured to reduce an output of the motor according to the detectionsignal of the first state and the detection signal of the second state.20. The bicycle control system as recited in claim 19, wherein thecontrol apparatus is configured to differentiate at least either a timeto reduce the output of the motor or a reduction amount of the output ofthe motor between when the first detection signal of the first state isdetected and when the second detection signal of the second state isdetected.